Opis

Archives of Control Sciences welcomes for consideration papers on topics of significance in broadly understood control science and related areas, including: basic control theory, optimal control, optimization methods, control of complex systems, mathematical modeling of dynamic and control systems, expert and decision support systems and diverse methods of knowledge modelling and representing uncertainty (by stochastic, set-valued, fuzzy or rough set methods, etc.), robotics and flexible manufacturing systems. Related areas that are covered include information technology, parallel and distributed computations, neural networks and mathematical biomedicine, mathematical economics, applied game theory, financial engineering, business informatics and other similar fields.

Aims and Scope: Archives of Control Sciences publishes papers in the broadly understood field of control science and related areas while promoting the closer integration of the Polish, as well as other Central and East European scientific communities with the international world of science.

ISSN

ISSN 1230-2384

Wydawcy

Committee of Automatic Control and Robotics PAS

Słowa kluczowe:
lack of controllability
constrained controllability
heuristic method
averaged dynamics
uniformly distributed random variable

The constrained averaged controllability of linear one-dimensional heat equation defined on R and R+ is studied. The control is carried out by means of the time-dependent intensity of a heat source located at an uncertain interval of the corresponding domain, the end-points of which are considered as uniformly distributed random variables. Employing the Green’s function approach, it is shown that the heat equation is not constrained averaged controllable neither in R nor in R+. Sufficient conditions on initial and terminal data for the averaged exact and approximate controllabilities are obtained. However, constrained averaged controllability of the heat equation is established in the case of point heat source, the location of which is considered as a uniformly distributed random variable. Moreover, it is obtained that the lack of averaged controllability occurs for random variables with arbitrary symmetric density function.

Słowa kluczowe:
generalized proportional-integral observer
Sylvester matrix equation
regularity
impulse-freeness

A kind of generalized proportional-integral(GPI) observer for descriptor linear systems is introduced. We first propose two complete parametric solutions to generalized Sylvester matrix equation corresponding to the left eigenvector matrices in the case of Jordan form. Then a parametric design approach for the observer is presented. The proposed method provides all parametric expression of the gain matrices and the corresponding finite left eigenvector matrix and guarantees the regularity and impulse-freeness of the expanded error system. Two numerical examples are given to explain the design procedure and illustrate the effectiveness of the proposed method.

Słowa kluczowe:
human–robot cooperation
vision system
collaborative robots

The paper presents the possibilities of teaching a robot controller to perform operations of autonomous segregation of objects differing in features that can be identified using a vision system.Objects can be arranged freely on the robot scene also covered with others. In the learning phase, a robot operator presents the segregation method by moving subsequent objects held in a human hand, e.g. a red object to container A, a green object to container B, etc. The robot system, after recognizing the idea of segregation that is being done using the vision system, continues this work in an autonomous way, until all identified objects will be removed from robotic scene. There are no restrictions on the dimensions, shapes and placement of containers collecting segregated objects. The developed algorithms were verified on a test bench equipped with two modern robots KUKA LBR iiwa 14 R820.

Słowa kluczowe:
Hindmarsh-Rose neuronal bursting system
chaos
synchronization
backstepping control
Lyapunov
stability

J.L. Hindmarsh, R.M. Rose introduced the concept of neuronal burst. In this paper, synchronization is investigated for the construction of a model of neuronal burst using backstepping control with recursive feedback. Synchronization for a model of neuronal bursting system is established using Lyapunov stability theory. The backstepping scheme is a recursive procedure that links the choice of a Lyapunov function with the design of a controller. The backstepping control method is effective and convenient to synchronize identical systems. Numerical simulations are furnished to illustrate and validate the synchronization result derived in this paper.

Słowa kluczowe:
nonlinear multi agent systems
cluster consensus
fractional-order systems
adaptive sliding mode controller

In this paper cluster consensus is investigated for general fractional-order multi agent systems with nonlinear dynamics via adaptive sliding mode controller. First, cluster consensus for fractional-order nonlinear multi agent systems with general formis investigated. Then, cluster consensus for the fractional-order nonlinear multi agent systems with first-order and general form dynamics is investigated by using adaptive sliding mode controller. Sufficient conditions for achieving cluster consensus for general fractional-order nonlinear multi agent systems are proved based on algebraic graph theory, Lyapunov stability theorem andMittag-Leffler function. Finally, simulation examples are presented for first-order and general form multi agent systems, i.e. a single-link flexible joint manipulator which demonstrates the efficiency of the proposed adaptive controller.

Słowa kluczowe:
time-delay system
Lyapunov matrix
Lyapunov functional

In the paper a Lyapunov matrices approach to the parametric optimization problem of a time-delay system with two commensurate delays and a PI-controller is presented. The value of integral quadratic performance index is equal to the value of the Lyapunov functional for the initial function of the time-delay system. The Lyapunov functional is determined by means of the Lyapunov matrix. In the paper is presented the example of a scalar system with two delays and a PI controller.

Słowa kluczowe:
linear time-invariant systems
limited capacity
observability
state estimation
networked control
data rate

This paper investigates state estimation of linear time-invariant systems where the sensors and controllers are geographically separated and connected over limited capacity, additive white Gaussian noise (AWGN) communication channels. Such channels are viewed as dropout (erasure) channels. In particular, we consider the case with limited data rates, present a necessary and sufficient condition on the data rate for mean square observability over an AWGN channel. The system is mean square observable if the data rate of the channel is larger than the lower bound given. It is shown in our results that there exist the inherent tradeoffs among the limited data rate, dropout probability, and observability. An illustrative example is given to demonstrate the effectiveness of the proposed scheme.

Słowa kluczowe:
self organization
Kohonen map
diffusion learning
anomalous diffusion
SOM

The traditional self organizing map (SOM) is learned by Kohonen learning. The main disadvantage of this approach is in epoch based learning when the radius and rate of learning are decreasing functions of epoch index. The aim of study is to demonstrate advantages of diffusive learning in single epoch learning and other cases for both traditional and anomalous diffusion models. We also discuss the differences between traditional and anomalous learning in models and in quality of obtained SOM. The anomalous diffusion model leads to less accurate SOM which is in accordance to biological assumptions of normal diffusive processes in living nervous system. But the traditional Kohonen learning has been overperformed by novel diffusive learning approaches.

Editor-in-Chief prof. dr hab. inż. Andrzej Świerniak

**Deputy/ Managing Editor**

Zbigniew Ogonowski, Silesian University of Technology, Gliwice, Poland

**Editorial Advisory Board**

Andrzej Bargiela, University of Nottingham, UK

Roman Barták, Charles University, Prague, Czech Rep.

Jacek Błażewicz, Poznań University of Technology, Poland

Reggie Davidrajuh, University of Stavanger, Norway

Andreas Deutsch, Technische Universität Dresden, Germany

Moritz Diehl, University of Freiburg, Germany

Władysław Findeisen, Warsaw University of Technology, Poland

Marcelo D.Fragoso, LNCC/MCT, Rio de Janeiro, Brasil

Avner Friedman, MBI Ohio State University, Columbus, USA

Alberto Gandolfi, IASI, Rome, Italy

Ryszard Gessing, Silesian University of Technology, Gliwice, Poland

Henryk Górecki, AGH University of Science and Technology, Poland

David Greenhalgh, University of Strathclyde, Glasgow, UK

Mats Gyllenberg, University of Helsinki, Finland

Wassim M. Haddad, Georigia University, Atlanta, USA

Raimo P. Hämäläinen, Aalto University School of Science, Finland

Alberto Isidori, Università di Roma "La Sapienza" Italia

Laszlo Kevicky, Hungarian Academy of Sciences, Hungary

Marek Kimmel, Rice University Houston, USA

Jerzy Klamka, Silesian University of Technology, Gliwice, Poland

Józef Korbicz, University of Zielona Góra, Poland

Irena Lasiecka, University of Virginia, USA

Urszula Ledzewicz, Southern Illinois University at Edwardsville, USA

Magdi S Mahmoud, KFUM, Dahram, Saudi Arabia

Krzysztof Malinowski, Warsaw University of Technology, Poland

Wojciech Mitkowski, AGH University of Science and Technology, Poland

Bozenna Pasik-Duncan, University of Kansas, Lawrence, USA

Ian Postlethwaite, Newcastle University, Newcastle, UK

Eric Rogers, University of Southampton, UK

Heinz Schaettler, Washington University, St Louis, USA

Ryszard Tadeusiewicz, AGH University of Science and Technology, Poland

Jan Węglarz, Poznań University of Technology, Poland

Liu Yungang, Shandong University, PRC

Valery D. Yurkevich, Novosibirsk State Technical University, Russia

Institute of Automatic Control

Silesian University of Technology

Akademicka 16

44-101 Gliwice, Poland

acs@polsl.pl

http://acs.polsl.pl/

Each paper submitted is subject to a review procedure, and the publication decision is based on reviers' comments on the paper. To avoid delay, please prepare the manuscript carefully following the suggestions listed below.

**Computer file** of the manuscript may be sent by e-mail to the address of Assistant Editor or acs@polsl.pl. Preferred text processors is TeX or LaTeX, however Word and other processors are also acceptable. In case of difficulties in processing the text, the author may be asked to supply the ASCII export of the original file.

**Manuscript**s sent via ordinary post should be typewritten double-spaced on one side of a standard size (A4) paper. Left side margin should be approximately 3cm (1.2'') wide. Each page should contain approximately 30 lines of 60 characters each. The manuscript including figures and tables together with their captions should be submitted. A separate signed letter giving the Author's preferred address for correspondence and return of proofs should be enclosed. Manuscript is the basis for editorial work.

**First page** should include the title of the paper, first name(s) and surname(s) of the Author(s), and a short summary (abstract), not longer than 20 lines.

**Keywords** of max. 5 - 7 items should be included in manuscript.

**Numeration**. All chapters, including the introduction, should be numbered in arabic numerals. Equations, tables and figures as well as theorems, corollaries, examples etc., should be numbered consecutively throughout the paper in arabic numerals, except in appendices. Appendices should be numbered with capital letters, and numeration should be closed within individual appendices.

**If the manuscript is not prepared with TeX**, mathematical expressions should be carefully written so as not to arouse confusion. Care should be taken that subscripts and superscripts are easily readable.

**Tables and figures** should be placed as desired by the Author within the text or on separate sheets with their suggested location indicated by the number of table or figure in the text. Figures, graphs and pictures (referred to as Fig. in the manuscript) should be numbered at the beginning of their caption following the figure. All figures should be prepared as PostScript EPS files or LaTeX picture files; in special cases, bitmaps of figure are also acceptable. The numbers and titles of tables should be placed above the main body of each table.

**References** should be listed alphabetically at the end of the manuscript. They should be numbered in ascending order and the numbers should be inserted in square brackets. References should be organized as follows. First initial(s), surname(s) of the author(s) and title of article or book. Then, for papers: title of periodical or collective work, volume number (year of issue), issue number, and numbers of the first and the last page; for books: publisher's name(s), place and year of issue. Example:

- R. E. Kalman: Mathematical description of linear dynamical system. SIAM J. Control. 1(2), (1963), 152-192.
- F. C. Shweppe: Uncertain dynamic systems. Prentice-Hall, Englewood Cliffs, N.J. 1970.

Please, give full titles of journals; only common words like Journal, Proceedings, Conference, etc. may be abbreviated ( to J., Proc., Conf., ... respectively). References to publications in the body of the manuscript should be indicated by the numbers of the adequate references in square brackets. When the paper is set in TeX the preferable form of preparing references is Bib TeX bib database.

**Footnotes** should be placed in the manuscript, beginning with "Received..." (date to be filled in by Editor), the author's institutional affiliation and acknowledgement of financial support,, and continuing with numbered references. The number of footnotes should be held to a minimum.

**List of symbols** containing definitions of all symbols used, enclosed to the manuscript on a separate sheet, is required when the paper is not set in TeX and welcome in other cases.

**Reprints**. 10 reprints of each paper will be provided free of charge.

**Submission of a paper** implies the Author's irrevocable and exclusive authorization of the publisher to collect any sums or considerations for copying or reproduction payable by third parties.

Papers should be sent to:

**Zbigniew Ogonowski**

Institute of Automatic Control

Silesian University of Technology

Akademicka 16

44-101 Gliwice, Poland